JP2023010220A - Power supply system and power supply method - Google Patents

Abstract

An object of the present invention is to equalize the degree of deterioration of each part of a power supply mat. A power supply system is configured to perform wireless power supply to a moving body using a power supply mat. The power feeding mat includes a plurality of power transmitting coils. Such a power supply system comprises a diagnostic device and a guidance device. The diagnosis device is configured to identify a deteriorated portion, which is a portion with a large degree of deterioration of the power supply mat. The guidance device is configured to guide the moving body to avoid the degraded portion. [Selection drawing] Fig. 6

Description

The present disclosure relates to a power feeding system and a power feeding method.

For example, in Japanese Patent Application Laid-Open No. 2018-157686 (Patent Document 1), when a vehicle travels in a power supply lane in which a plurality of power supply units are provided along the driving lane, the presence of a foreign object on the road in front of the vehicle body is detected. It is disclosed that, in this case, power supply from power supply units existing within a predetermined range before and after the point where the presence of the foreign object is detected is stopped or suppressed.

JP 2018-157686 A

The power supply unit described in Patent Document 1 is embedded in the road. Each of the plurality of power supply units includes one power transmission coil. In response to this, the inventor of the present application proposes a power feeding mat including a plurality of power transmitting coils. A plurality of power transmission coils included in one power feeding mat are configured to be capable of individually powering separate mobile bodies.

A user (moving object) can select one power transmitting coil from a plurality of power transmitting coils included in the power feeding mat and receive power from the selected power transmitting coil. However, if the user (mobile body) is allowed to freely choose which power transmission coil on the power supply mat to use, the use of a specific power transmission coil may be concentrated, resulting in rapid deterioration of only a specific part of the power supply mat. have a nature. If only a specific part of the power feeding mat deteriorates more than other parts, the convenience of the power feeding mat may be reduced or the life of the power feeding mat may be shortened.

The present disclosure has been made to solve the above problems, and its purpose is to equalize the degree of deterioration of each part of the power supply mat.

A power supply system according to a first aspect of the present disclosure is configured to perform wireless power supply to a mobile body using a power supply mat including a plurality of power transmission coils. Such a power supply system comprises a diagnostic device and a guidance device. The diagnosis device is configured to identify a deteriorated portion, which is a portion with a large degree of deterioration of the power supply mat. The guidance device is configured to guide the moving body to avoid the degraded portion.

The deteriorated portions of the power feeding mat have a greater degree of deterioration than other portions of the power feeding mat. In the power supply system described above, since the guidance device guides the moving body to avoid the deteriorated portion, the deteriorated portion of the power supply mat is less likely to be used. That is, deterioration of the deteriorated portion of the power supply mat is less likely to progress. As a result, the degree of deterioration of each part of the power supply mat can be made uniform.

Examples of mobile objects include unmanned mobile objects (automatic guided vehicles (AGV), drones, etc.) and vehicles (automobiles, airplanes, etc.).

The surface of the power supply mat may be divided into a plurality of parts. A light emitting device may be provided for each of the divided parts. The diagnostic device may be configured to identify a portion corresponding to the deteriorated portion from among the plurality of portions. The guidance device may be configured to control the light-emitting device so as to guide the moving body in a direction to avoid the deteriorated site.

According to the above configuration, it is possible to accurately guide the moving object by light. For example, the driver of the moving body may see the light emitted from the light emitting device and move the moving body so as to avoid the deteriorated portion. Alternatively, a moving body in automatic operation may detect light emitted from the light emitting device and move to avoid the deteriorated portion.

The surface of the power supply mat may be divided into a plurality of running lanes. The diagnostic device may be configured to identify a running lane corresponding to the deteriorated portion from among the plurality of running lanes. The power supply system may further include a display device that guides the moving object to avoid the lane corresponding to the deteriorated portion.

According to the above configuration, it is possible to accurately guide the moving object by the display. For example, the driver of the moving body may move the moving body so as to avoid the deteriorated portion by watching the guidance (display) by the display device. Alternatively, the moving body during automatic operation may move so as to avoid the deteriorated portion according to the guidance (display) by the display device.

The guidance device may be configured to guide the mobile body to avoid the deteriorated portion by communicating with the mobile body. According to such a configuration, it is possible to accurately guide the moving object through communication.

The mobile body may be an automatically driven vehicle configured to be able to travel unmanned. According to the guidance method based on communication, it becomes easier to reliably guide such an automatically driven vehicle.

The diagnostic device may be configured to identify the deteriorated portion using the usage history of each portion of the power supply mat. According to such a configuration, it is possible to easily and accurately determine which part of the power supply mat has a greater degree of deterioration than other parts.

Examples of usage history include the number of times the power transmission coil included in the target part was energized, the cumulative energization time of the power transmission coil included in the target part, the cumulative amount of power supplied to the power transmission coil included in the target part, The number of times it passed through

The diagnostic device may be configured to identify the deteriorated portion using the temperature of each portion of the power supply mat.

The deteriorated portion of the power supply mat tends to generate heat during power supply. According to the above configuration, it is possible to easily and accurately determine which part of the power supply mat has a greater degree of deterioration than other parts.

In any one of the power supply systems described above, the power supply mat may be configured to use a plurality of power transmission coils to supply power to a moving body running on the power supply mat. According to such a configuration, the moving body can receive power from the power feeding mat while traveling.

The power supply mat may have flexibility to the extent that it can be rolled into a cylindrical shape. Such a power supply mat can be rolled up into a cylindrical shape, so it is easy to carry.

The power supply mat may be formed by combining a plurality of plate materials. The power supply mat may be configured to be disassembled into a plurality of plate members. Each of the plurality of plate members may include one or more power transmission coils.

Since the power supply mat is configured to be disassembled into a plurality of plate materials, it is easy to carry.
The power supply mat may be configured to be installed indoors. Such power supply mats are suitable for charging small moving objects (eg, AGVs or robots) used indoors.

A power feeding method according to a second aspect of the present disclosure is a power feeding method that wirelessly powers a moving body using a power feeding mat that includes a plurality of power transmitting coils, and the power feeding mat is a portion where the degree of deterioration is large. This includes identifying the degraded site and guiding the mobile to avoid the degraded site.

Similar to the power supply system described above, the above power supply method also makes it possible to equalize the degree of deterioration of each part of the power supply mat.

According to the present disclosure, it is possible to equalize the degree of deterioration of each part of the power supply mat.

1 is a diagram showing a power supply mat according to Embodiment 1 of the present disclosure; FIG. FIG. 3 is a diagram showing an example of a state in which the power feeding mat shown in FIG. 1 is in use; FIG. 2 is a diagram for explaining the configuration of a moving object, and the configuration of a power supply mat and its power supply equipment in the power supply system according to Embodiment 1 of the present disclosure; 1 is a diagram showing an overall configuration of a power feeding system according to Embodiment 1 of the present disclosure; FIG. FIG. 4 is a flow chart showing processing related to acquisition of mat information executed by the control device of the power supply mat shown in FIG. 3; FIG. 4 is a flowchart showing a power supply method according to Embodiment 1; FIG. 7 is a diagram for explaining guidance of a moving object executed in the process shown in FIG. 6; FIG. FIG. 7 is a flow chart showing details of charging control of a moving body executed in the process shown in FIG. 6; FIG. FIG. 7 is a flowchart showing details of power supply control executed in the process shown in FIG. 6; FIG. 8 is a flowchart showing a power supply method according to Embodiment 2; FIG. 10 is a diagram for explaining a deterioration diagnosis method and a guidance method according to Embodiment 2; FIG. 12 is a diagram showing a first modified example of the configuration shown in FIG. 11; FIG. 12 is a diagram showing a second modification of the configuration shown in FIG. 11; FIG. 12 is a diagram showing a third modified example of the configuration shown in FIG. 11; FIG. 7 is a flow chart showing a modification of the process shown in FIG. 6; FIG. FIG. 11 is a flow chart showing a modification of the process shown in FIG. 10; FIG. FIG. 3 is a diagram showing a first modification of the power supply mat shown in FIG. 1; FIG. 4 is a diagram showing a second modification of the power supply mat shown in FIG. 1;

Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. In the drawings, the same or corresponding parts are denoted by the same reference numerals, and the description thereof will not be repeated.

[Embodiment 1]
FIG. 1 is a diagram showing a power supply mat according to this embodiment. Referring to FIG. 1 , power feeding mat 100 includes sheet base material 110 and a plurality of power transmitting coils 120 provided inside sheet base material 110 . The power feeding mat 100 is configured to be portable. Power feeding mat 100 is light enough to be carried by one or several people, for example. Further, the power supply equipment (see FIG. 3) of the power supply mat 100, which will be described later, is configured to be detachable from the power supply mat 100. As shown in FIG. The power supply mat 100 has flexibility to the extent that it can be rolled into a cylindrical shape. FIG. 1 shows the power supply mat 100 in a partially cylindrically wound state. However, the power feeding mat 100 can also be wound in a cylindrical shape. By winding the power feeding mat 100 into a cylindrical shape, the power feeding mat 100 can be easily carried. The power supply mat 100 may be stored in a cylindrically wound state. The power supply mat 100 can also be spread out like a sheet. The power supply mat 100 is used in an unfolded state (see FIG. 2, which will be described later). The power supply mat 100 can be treated as a rug. Power supply mat 100 is configured to be installable on an indoor floor. The power supply mat 100 may be installed in an indoor passage (for example, an intersection of passages). After the power feeding mat 100 is placed on the floor, it may be secured with removable fasteners (eg, clamps or grippers).

In this embodiment, the power supply mat 100 in the spread state has a rectangular outer shape (planar shape). However, the outer shape of the power supply mat 100 is not limited to a rectangular shape and can be changed as appropriate. The outer shape of the power supply mat 100 may be polygonal (triangular, pentagonal, hexagonal, etc.) other than square, or may be circular. In this embodiment, a plurality of power transmission coils 120 included in power feeding mat 100 are built into sheet base material 110 . However, the present invention is not limited to this, and power transmission coil 120 may be provided so as to be exposed on the surface of power feeding mat 100 . The sheet base material 110 is made of resin, for example. However, the material of the sheet base material 110 can be changed as appropriate. Power transmission coil 120 is made of metal, for example. However, the material of power transmission coil 120 can be changed as appropriate. For example, power transmission coil 120 may be made of conductive resin.

In this embodiment, a plurality of power transmission coils 120 are regularly arranged vertically and horizontally on the mat surface (main surface of power supply mat 100). Power transmission coils 120 are arranged, for example, in a grid pattern. However, the arrangement of the power transmission coils 120 is not limited to this, and can be changed as appropriate. The transmitting coils 120 may be arranged irregularly. In the example shown in FIG. 1, power transmission coil 120 is formed in a regular hexagon in plan view, but the shape of power transmission coil 120 can be changed as appropriate. The planar shape of power transmission coil 120 may be a polygon other than a hexagon (for example, a quadrangle), or may be circular. The size of the power transmission coil 120 may also be appropriately changed according to the application of the power feeding mat 100 (for example, the structure of the mobile body using the power feeding mat 100).

FIG. 2 is a diagram showing an example of a state in which the power supply mat 100 is in use. In the example shown in FIG. 2, moving bodies 201 to 207 are placed on the power supply mat 100. In the example shown in FIG. A plurality of power transmission coils 120 included in power feeding mat 100 are configured to be capable of individually powering separate moving bodies. When one of the power transmission coils 120 included in the power feeding mat 100 and one of the moving bodies 201 to 207 is aligned, the aligned power transmission coil 120 moves to the moving body (any of the moving bodies 201 to 207). wireless power supply becomes possible. Each of the moving bodies 201 to 207 can select one power transmission coil 120 from the plurality of power transmission coils 120 included in the power feeding mat 100 and receive power from the selected power transmission coil 120 . The method of wireless power transmission (WPT) is arbitrary, and may be a magnetic resonance method or an electromagnetic induction method. Also, other schemes may be adopted.

Each of the moving bodies 201 to 207 is a small BEV (electric vehicle) capable of running indoors. Each of the moving bodies 201-205 is an automated guided vehicle (AGV). Each of vehicles 206 and 207 is a single-seat electric vehicle.

Vehicles 201-205 are AGVs of the same type. Each of the moving bodies 201-205 is used for transporting cargo. In the example shown in FIG. 2, each of the moving bodies 201 to 203 is carrying a load alone. On the other hand, moving bodies 204 and 205 cooperate to carry a large load that cannot be carried by one machine. Each of the moving bodies 201-205 is suitable for indoor transportation. Hereinafter, each of the moving bodies 201 to 205 will be referred to as "AGV 200", unless otherwise described.

Each of the moving bodies 206 and 207 is configured so that it can be driven manually by a person, or can be driven automatically by an unmanned vehicle. Vehicle 206 includes a handlebar. Vehicle 207 includes handlebars and a seat. Each of the moving bodies 206 and 207 is suitable as a vehicle for moving indoors.

FIG. 3 is a diagram for explaining the configuration of a moving body that receives power from the power feeding mat 100 and the configuration of the power supply facility of the power feeding mat 100. As shown in FIG. Below, the structure of AGV200 is demonstrated as an example of a mobile body.

Referring to FIG. 3 together with FIG. 2, the power feeding system according to this embodiment includes a power feeding mat 100, a power supply module 300, and a camera 350. As shown in FIG. The power supply module 300 corresponds to power equipment of the power supply mat 100 . The power supply module 300 is electrically connected to the power supply mat 100 via a cable. The power supply module 300 includes a power supply circuit 310 . The power supply circuit 310 is configured to receive power supply from the power system PG and supply power to each of the plurality of power transmission coils 120 included in the power supply mat 100 . The power system PG is a power network constructed by power plants and transmission/distribution facilities (not shown). Power system PG supplies AC power (eg, three-phase AC power) to power supply module 300 . Power supply circuit 310 includes a power conversion circuit. The power supply circuit 310 converts the power supplied from the power system PG into power suitable for the power feeding mat 100 and supplies the converted power to the power feeding mat 100 .

The camera 350 is configured to receive power from the power supply module 300 and capture an image of the surroundings of the power supply mat 100 from above the power supply mat 100 . The power supply module 300 includes a power supply circuit (not shown) for the camera 350 in addition to the power supply circuit 310 for the power supply mat 100 . Camera 350 may be wall mounted. Alternatively, a stanchion may be provided to support camera 350 . In this embodiment, camera 350 includes a visible light imager and an infrared light imager. However, the camera 350 is not limited to this, and may include one imaging element capable of simultaneously capturing visible light and infrared light. Camera 350 according to this embodiment functions as an infrared thermography camera. Each imaging element images the entire surface of the power feeding mat 100 . The camera 350 incorporates a processor and an image processing circuit for analyzing the video captured by each imaging element, in addition to the imaging elements described above. The camera 350 obtains information indicating the state of the power supply mat 100 and the surrounding environment based on the images obtained by the respective imaging elements. For example, camera 350 acquires the temperature distribution of the mat surface based on the infrared radiant energy emitted from each part of power feeding mat 100 . Also, the camera 350 identifies a target (living body or object) existing on the power feeding mat 100 . The camera 350 monitors the state of the power supply mat 100 and the surrounding environment.

The power supply mat 100 further includes a power control circuit 130 , a wireless communication device 140 , and a mat controller 150 that controls the power control circuit 130 inside the sheet base material 110 ( FIG. 1 ). A computer having a processor, a RAM (Random Access Memory), a storage device, and a communication I/F (interface) can be used as the mat controller 150 . In this embodiment, various controls in power supply mat 100 are executed by the processor executing a program stored in the storage device in mat controller 150 . However, various controls in the power feeding mat 100 are not limited to execution by software, and can be executed by dedicated hardware (electronic circuit).

Power control circuit 130 includes a connection switching circuit. The connection switching circuit is configured to receive power supply from the power supply circuit 310 and switch connection/disconnection between each power transmission coil 120 included in the power supply mat 100 and the power supply circuit 310 . The connection switching circuit of power control circuit 130 may include a switch provided for each power transmission coil 120 . In this embodiment, the connection switching circuit is a normally-off switching circuit. When the mat controller 150 is in a stopped state (including a sleep state), each power transmission coil 120 included in the power feeding mat 100 and the power supply circuit 310 are cut off.

Power control circuit 130 further includes a power conversion circuit. This power conversion circuit is configured to apply a voltage suitable for wireless power supply to each power transmission coil 120 electrically connected to the power supply circuit 310 . Specifically, the power conversion circuit of power control circuit 130 may include a resonance circuit (for example, an LC resonance circuit), a filter circuit, an inverter, and a PFC (Power Factor Correction) circuit. Although the details will be described later, the mat controller 150 can also transmit weak power (position confirmation power) from any power transmitting coil 120 included in the power feeding mat 100 by controlling the power control circuit 130 .

Power control circuit 130 is configured to supply power to the various devices of powered mat 100 (including radio 140 and mat controller 150). For example, each of the display and sensor modules 122 described below are also powered by the power control circuit 130 . Power may be supplied to each of the display and sensor modules 122 from the power control circuit 130 through the mat controller 150 .

The power supply mat 100 includes a display device that guides the moving object. The display device includes a plurality of light emitters 121 and a driving circuit (not shown) that drives each light emitter 121 . A light emitter 121 is provided for each power transmission coil 120 . The drive circuit receives power from the power control circuit 130 and drives each light emitter 121 according to instructions from the mat controller 150 . Any light emitter (light emitting device) can be employed as the light emitter 121 , but in this embodiment, a light emitting diode is employed as the light emitter 121 . Each light emitter 121 is provided, for example, on the surface of power feeding mat 100 .

A plurality of sensor modules 122 are provided corresponding to the plurality of power transmission coils 120 . Sensor module 122 includes various sensors that detect the state of power transmission coil 120 . The sensor module 122 includes a pressure sensor that detects pressure applied to the power transmission coil 120 , a temperature sensor that detects the temperature around the power transmission coil 120 , a current sensor that detects current flowing through the power transmission coil 120 , and a current sensor that detects the current flowing through the power transmission coil 120 . and a voltage sensor that detects the voltage applied to. A detection result of each sensor included in the sensor module 122 is output to the mat controller 150 . A sensor module 122 having the above configuration is provided for each power transmission coil 120 . Each sensor module 122 is built in, for example, the sheet substrate 110 (FIG. 1).

Although illustration is omitted, a magnetic marker is provided for each power transmission coil 120 included in the power feeding mat 100 . A magnetic marker indicates the position of the corresponding power transmitting coil 120 . The moving body can detect the position of power transmission coil 120 corresponding to the magnetic marker by detecting the magnetism emitted by the magnetic marker with the magnetic sensor.

Inside the cable connecting the power supply mat 100 and the power supply module 300, not only the power line but also the communication line are provided. In this embodiment, power supply mat 100 and power supply module 300 are configured to be able to communicate with each other. Mat controller 150 is configured to control power supply circuit 310 within power supply module 300 . Also, the camera 350 is communicably connected to the power supply mat 100 via the power supply module 300 . Information acquired by the camera 350 is input to the mat controller 150 via the power supply module 300 .

The AGV 200 includes a battery 210, a power receiving coil 220 that receives power from the power transmitting coil 120 in a contactless manner, a charging circuit 230 that charges the battery 210 using the power received by the power receiving coil 220, a wireless communication device 240, a charging and an ECU (Electronic Control Unit) 250 that controls the circuit 230 .

As battery 210, a known vehicle power storage device (for example, a liquid secondary battery, an all-solid secondary battery, or an assembled battery) can be employed. Examples of secondary batteries for vehicles include lithium-ion batteries and nickel-metal hydride batteries. Other power storage devices such as an electric double layer capacitor may be employed instead of the secondary battery. Charging circuit 230 functions as an onboard charger for battery 210 . A computer having a processor, RAM, storage device, and communication I/F can be employed as the ECU 250 . In this embodiment, various controls in the AGV 200 are executed by the processor executing programs stored in the storage device of the ECU 250 . However, various controls in the AGV 200 are not limited to execution by software, and can also be executed by dedicated hardware (electronic circuit).

The AGV 200 is an autonomous vehicle configured to run unmanned using power stored in a battery 210 . Although illustration is omitted, the AGV 200 further includes an electric motor, a BMS (Battery Management System), an automatic driving sensor, and a navigation system having map information. The AGV 200 supplies electric power from the battery 210 to the electric motor, and runs with power generated by the electric motor. BMS also includes various sensors that detect the state of battery 210 (for example, current, voltage, and temperature), and the detection results are input to ECU 250 . For example, the charging power (charging current and charging voltage) of the battery 210 is detected by the BMS. Also, the SOC (State Of Charge) of battery 210 is estimated by BMS, and the estimation result is input to ECU 250 .

An automatic driving sensor is a sensor used for automatic driving. However, the automatic driving sensor may be used for predetermined control when automatic driving is not being performed. Automatic driving sensors include a sensor that acquires information for recognizing the external environment of the AGV 200 and a sensor that acquires information about the position and orientation of the AGV 200 . Automated driving sensors may include, for example, at least one of a camera, a millimeter wave radar, and a lidar. The autonomous driving sensor may include at least one of an IMU (Inertial Measurement Unit) and a GPS (Global Positioning System) sensor, for example.

The AGV 200 is configured to be unmanned and capable of autonomous travel according to a predetermined travel schedule. The travel schedule includes, for example, departure times and arrival times at destinations. The setting method of the travel schedule is arbitrary. For example, a user may operate a user terminal (for example, a mobile terminal) that can wirelessly communicate with AGV 200 to set the travel schedule and destination in ECU 250 . Alternatively, the user may operate a service tool connected to the AGV 200 for wired communication or an HMI (Human Machine Interface) included in the AGV 200 to set the travel schedule and destination in the ECU 250 .

ECU 250 is configured to execute automatic driving (including automatic parking) according to a predetermined automatic driving program. The ECU 250 executes automatic driving of the AGV 200 by controlling the accelerator device, braking device, and steering device (none of which are shown) of the AGV 200 using various information acquired by the automatic driving sensors. The automatic driving program may be sequentially updated by OTA (Over The Air).

Charging circuit 230 is located between battery 210 and power receiving coil 220 and is controlled by ECU 250 . Charging circuit 230 includes a power conversion circuit. When battery 210 is charged with power supplied from power transmitting coil 120 to power receiving coil 220 , ECU 250 controls charging circuit 230 so that appropriate power is input from power receiving coil 220 to battery 210 . Charging circuit 230 converts AC power input from power receiving coil 220 into DC power and outputs the DC power to battery 210 . Specifically, charging circuit 230 may include a resonant circuit (eg, an LC resonant circuit), a filter circuit, and a rectifier circuit.

The AGV 200 further includes a position sensor module 221 that detects the position of the AGV 200 on the mat surface (main surface of the power feeding mat 100). The position sensor module 221 is used, for example, to align any of the power transmitting coils 120 and the power receiving coils 220 of the power feeding mat 100 . The position sensor module 221 is provided on the bottom surface of the AGV 200, for example. The position sensor module 221 includes multiple magnetic sensors. A plurality of magnetic sensors may be arranged in a grid. Each magnetic sensor included in the position sensor module 221 detects the magnetism emitted from the magnetic marker of each power transmission coil 120 . ECU 250 is configured to acquire the amount of positional deviation between power transmitting coil 120 and power receiving coil 220 based on the detection result of position sensor module 221 .

In this embodiment, power supply mat 100 and AGV 200 are configured to be communicable. Mat controller 150 and ECU 250 may perform wireless communication with each other via wireless communication devices 140 and 240 . Any communication method can be used. Mat controller 150 and ECU 250 may be configured to perform short-range communication such as NFC (Near Field Communication) or Bluetooth (registered trademark) (for example, direct communication in a range around power supply mat 100). . Mat controller 150 and ECU 250 may be configured to perform wireless communication using a wireless LAN (Local Area Network). The AGV 200 may include an RFID (Radio Frequency IDentification) device. Mat controller 150 may then be configured to receive signals emitted from the RFID devices of AGV 200 .

Although the configuration of the AGV 200 has been described above, each of the moving bodies 206 and 207 shown in FIG. 2 also internally has a configuration conforming to the configuration shown in FIG. If necessary, the circuit configuration described above may be changed to achieve similar functions.

FIG. 4 is a diagram showing the overall configuration of the power supply system according to this embodiment. Referring to FIG. 4, the power supply system according to this embodiment further includes a server 500 in addition to power supply mat 100 and power supply module 300 described above. Server 500 is configured to wirelessly communicate with each of a plurality of target mobile bodies corresponding to power feeding mat 100 . Each of moving bodies 201 to 207 shown in FIG. 2 corresponds to a target moving body of power feeding mat 100 . The target moving body of the power feeding mat 100 is configured to be able to use the power feeding mat 100 . In this embodiment, information on each target moving body (including moving bodies 201 to 207) of power feeding mat 100 is registered in server 500 in advance. By registering the information of each mobile object in the server 500, it becomes easier to manage the information of each mobile object. Server 500 may wirelessly communicate with unregistered mobiles. The server 500 may acquire information on unregistered mobile units through communication.

The server 500 comprises a processor 510 , a storage device 520 and a communication device 530 . Processor 510 may be a CPU (Central Processing Unit). Storage device 520 is configured to be able to store various types of information. Communication device 530 includes various communication I/Fs. Server 500 is configured to communicate with the outside world through communication device 530 .

Storage device 520 stores programs to be executed by processor 510 as well as information used in the programs (eg, maps, formulas, and various parameters). In this embodiment, the processor 510 executes programs stored in the storage device 520 to execute various processes in the server 500 . However, various processes in the server 500 are not limited to being executed by software, and can be executed by dedicated hardware (electronic circuits).

The server 500 registers a plurality of moving bodies (including target moving bodies of the power feeding mat 100) and a plurality of power feeding mats (for example, the power feeding mats 100 shown in FIGS. 1 to 3). The server 500 manages information about each registered moving body (hereinafter referred to as "moving body information") and information about each registered power feeding mat (hereinafter referred to as "mat information"). The mobile information and mat information are stored in the storage device 520 . The mobile information and mat information are updated as needed.

Identification information (mobile body ID) for identifying a mobile body is assigned to each mobile body, and the server 500 distinguishes and manages mobile body information by the mobile body ID. The mobile object information includes, for example, the specifications of the mobile object (for example, specifications regarding charging), the mat ID of the power feeding mat to which the mobile object corresponds, and the information received by the server 500 from the mobile object (for example, the current information of the mobile object). position and state).

Identification information (mat ID) for identifying the power feeding mat is assigned to each power feeding mat, and the server 500 distinguishes and manages the mat information by the mat ID. The mat information includes specifications of the power feeding mat (for example, specs relating to power feeding) and the position (installation location) of the power feeding mat.

In this embodiment, the power supply mat 100 includes n power transmission coils 120 (power transmission coils 120-1 to 120-n), n light emitters 121 (121-1 to 121-n), and n power transmission coils 121-1 to 121-n. It includes sensor modules 122 (122-1 to 122-n) and n magnetic markers. n is an integer of 2 or more. n may be an integer selected from the range of 5 or more and less than 100. Moreover, n may be 100 or more. The number (n) of the power transmission coils 120 included in the power feeding mat 100 according to this embodiment is approximately one hundred.

In this embodiment, the mat controller 150 of the power feeding mat 100 is in a stopped state (for example, a sleep state) when there is no mobile object within a predetermined area around the power feeding mat 100 . Then, when the first moving body enters the predetermined area, the mat controller 150 is activated. For example, when camera 350 recognizes a moving object around power feeding mat 100, it may be recognized that the moving object has entered a predetermined area. Alternatively, when the wireless communication device 140 receives a signal emitted from the RFID device of the mobile, it may be recognized that the mobile has entered the predetermined area. The power supply system may also be configured to utilize geofencing technology to determine whether a mobile object has entered a predetermined area.

FIG. 5 is a flow chart showing processing related to acquisition of mat information executed by the mat controller 150 . The processing shown in this flowchart is repeatedly executed at a predetermined cycle when the mat controller 150 is in an operating state. When activated, the mat controller 150 starts a series of processes shown in FIG. 5 and described below. Below, each step in the flow chart is simply written as "S".

5 together with FIGS. 3 and 4, in S101, the mat controller 150 records information acquired from the camera 350 in the storage device.

Specifically, when camera 350 finds a deteriorated portion (that is, a portion with a large degree of deterioration) in power supply mat 100, camera 350 transmits information specifying the deteriorated portion (hereinafter also referred to as “deterioration information”) to the mat controller. 150. The deterioration information indicates the position of the deteriorated portion. In this embodiment, the power feeding mat 100 is divided into parts corresponding to the power transmitting coils 120, and the presence or absence of deterioration is determined for each power transmitting coil 120. FIG. Camera 350 identifies a portion corresponding to a deteriorated portion from among a plurality of portions included in power supply mat 100 . The position of power transmission coil 120 may be indicated by XY coordinates on the mat surface, or may be indicated by identification information (coil ID) for identifying power transmission coil 120 .

When the camera 350 detects a portion of the power supply mat 100 that has generated heat equal to or higher than a predetermined reference temperature based on the temperature distribution of the power supply mat 100 obtained by thermography, the camera 350 recognizes the heat generated portion as a deteriorated portion. It may be configured as Since the deteriorated power transmission coil 120 is particularly prone to heat generation during power feeding, the camera 350 may check the presence or absence of heat generation in the power transmission coil 120 during power feeding. In order to improve the accuracy of certification, when heat generation is confirmed a predetermined number of times (for example, two times or more), the site that has generated heat may be certified as a deteriorated site.

In addition, when camera 350 detects an object other than a moving object (hereinafter referred to as “foreign object”) on power feeding mat 100, camera 350 detects information (hereinafter also referred to as “foreign object information”) that specifies the site where the foreign object exists. to the mat controller 150 . Foreign objects also include living organisms (eg, humans).

When receiving at least one of the deterioration information and the foreign matter information from the camera 350, the mat controller 150 records the received information in the storage device in association with the current time. The mat controller 150 manages the deterioration information and the foreign matter information by distinguishing them by the coil ID and acquisition time. In this embodiment, mat controller 150 acquires the current state (for example, performance and environment) of each part of power feeding mat 100 based on information from camera 350 . However, the use of the camera 350 is not limited to the above. Mat controller 150 may use camera 350 to record the usage history of powered mat 100 .

In S102, the mat controller 150 records the information acquired from the sensor module 122 in the storage device. Specifically, the mat controller 150 acquires the detected values of the pressure sensor, temperature sensor, current sensor, and voltage sensor included in the sensor module 122 for each target portion (transmitting coil 120), which will be described below. 1st to 5th history information is recorded.

The first history information indicates the number of times power transmission coil 120 has been energized. For example, a first counter for counting the number of energizations is provided in the storage device of mat controller 150 . The mat controller 150 increments the first counter each time the current value detected by the current sensor exceeds a predetermined first threshold.

The second history information indicates the number of times the moving object has passed over the target site (transmitting coil 120) (hereinafter simply referred to as "passage count"). For example, a second counter for counting the number of passages is provided in the storage device of mat controller 150 . The mat controller 150 increments the second counter each time the pressure (load) detected by the pressure sensor exceeds a predetermined second threshold.

The third history information indicates the cumulative value of the time during which the temperature of the target part (for example, the temperature around power transmission coil 120) is out of the normal temperature range (recommended temperature range) (hereinafter also referred to as "temperature damage time"). . The mat controller 150 measures the time during which the temperature around the power transmission coil 120 detected by the temperature sensor is out of a predetermined temperature range, and stores the measured time (corresponding to temperature damage time) as third history information. Record on device.

The fourth history information indicates the accumulated energization time of power transmission coil 120 . Mat controller 150 measures the energization time of power transmission coil 120 (for example, the time during which the current value detected by the current sensor exceeds the first threshold), and stores the measured energization time as fourth history information. Record on device.

The fifth history information indicates the cumulative amount of power supplied to power transmission coil 120 . The mat controller 150 measures the power supply amount (=current x voltage x time) based on the detection results of the current sensor and the voltage sensor while the power transmission coil 120 is energized, and stores the measured power supply amount in the fifth history. Record as information in a storage device.

Each of the first to fifth history information indicates the usage history of each part of power supply mat 100 . The mat controller 150 can estimate the degree of accumulation of damage in each part of the power feeding mat 100 from the usage history. The mat controller 150 distinguishes the first to fifth history information by coil ID and manages them. In this embodiment, mat controller 150 records the usage history of power feeding mat 100 based on information from sensor module 122 . However, the application of the sensor module 122 is not limited to the above. The mat controller 150 may acquire the current state of each part of the power feeding mat 100 based on the information from the sensor module 122 . For example, when a sensor indicates an abnormal value, the mat controller 150 may recognize that the portion (transmitting coil 120) corresponding to the sensor corresponds to the deteriorated portion.

The mat controller 150 that has been activated repeatedly executes S101 and S102 of FIG. 5, thereby sequentially updating the deterioration information, the foreign matter information, and the first to fifth history information. The values indicated by each of the first to fifth history information are not reset and accumulated unless the target part (transmitting coil 120) is replaced or repaired.

FIG. 6 is a flow chart showing a power feeding method according to the first embodiment. In this embodiment, the moving object starts the process shown in FIG. 6 when a predetermined charging start condition is satisfied. The predetermined charging start condition is met, for example, when the moving object enters a predetermined area around power feeding mat 100 . Below, the case where the AGV 200 executes the processing shown in FIG. 6 will be described, but the processing shown in FIG. be.

Referring to FIG. 6 together with FIGS. 3 and 4, in S11, ECU 250 of AGV 200 communicates with mat controller 150 to obtain the mat ID of power feeding mat 100. Then, the mat ID of power feeding mat 100 and movement of AGV 200 A charging permission request (signal requesting charging permission) is transmitted to the server 500 together with the body ID.

When server 500 receives the charging permission request from AGV 200 (ECU 250), server 500 starts the process shown in FIG. In S21, the server 500 requests diagnostic data from the power supply mat 100 (hereinafter also referred to as "target mat") from which the AGV 200 is to receive power.

When the target mat receives the request for the diagnostic data from the server 500, it starts the processing shown in FIG. In S31, the target mat transmits to the server 500 the latest deterioration information and the first to fifth history information obtained by the process shown in FIG. In this embodiment, the deterioration information and the first to fifth history information described above correspond to diagnostic data.

Upon receiving the diagnostic data from the target mat, server 500 diagnoses the degradation of the target mat in S22. Specifically, the server 500 recognizes a portion corresponding to any of (A) to (F) shown below in the target mat as a deteriorated portion. That is, the server 500 identifies the portion corresponding to the deteriorated portion from among the plurality of portions included in the power feeding mat 100 .

(A) Deteriorated portion specified by camera 350 (deteriorated portion indicated by deterioration information)
(B) A portion where the number of energizations of the power transmission coil 120 is equal to or greater than a predetermined first reference value (C) A portion where the number of passages is equal to or greater than a predetermined second reference value (D) A temperature damage time is equal to or greater than a predetermined third reference value (E) A portion where the cumulative energization time of the power transmission coil 120 is equal to or greater than a predetermined fourth reference value (F) A portion where the cumulative power supply amount of the power transmission coil 120 is equal to or greater than a predetermined fifth reference value This embodiment The server 500 according to the above identifies the deteriorated portion based on the requirements shown in (A) to (F) above. In this embodiment, each of server 500 and camera 350 corresponds to an example of a “diagnostic device” according to the present disclosure. The first to fifth reference values may be fixed values or may be variable. For example, the first reference value, the second reference value, the third reference value, the fourth reference value, and the fifth reference value are respectively the number of energizations, the number of passages, the temperature damage time, the cumulative energization time, and the cumulative power supply to the power feeding mat 100. It may be variable according to the average value of the amount (for example, the average value of all power transmitting coils 120 included in power feeding mat 100).

However, the deterioration diagnosis method is not limited to the above, and can be changed as appropriate. Any requirement may be omitted from (A) to (F) above. For example, (D) to (F) may be omitted. Alternatively, (A) may be omitted. Only one requirement among the above (A) to (F) may be adopted. For example, the deteriorated portion may be specified only by (A). Alternatively, the deteriorated portion may be specified only by (B) or (C). Server 500 may diagnose deterioration of power transmission coil 120 based on the amount of positional deviation or the amount of deformation of power transmission coil 120 . The camera 350 may detect the amount of displacement or the amount of deformation of the power transmission coil 120 . Further, the sensor module 122 may include a sensor for detecting the amount of displacement or the amount of deformation of the power transmission coil 120 .

In subsequent S23, the server 500 transmits information indicating the deteriorated portion identified in S22 (hereinafter also referred to as "diagnosis result") to the target mat. A deteriorated portion is identified by, for example, a coil ID. The diagnosis result indicates the coil IDs of all the parts (transmitting coils 120) recognized as deteriorated parts.

When the target mat receives the diagnosis result, the mat controller 150 of the target mat guides the AGV 200 to avoid the deteriorated portion indicated by the diagnosis result in S32. In this embodiment, the mat controller 150 corresponds to an example of the "guidance device" according to the present disclosure.

FIG. 7 is a diagram for explaining the guidance of the moving object executed in S32 of FIG. FIG. 7 schematically shows a partial planar structure of the power supply mat 100 (target mat).

In this embodiment, each portion of power feeding mat 100 is classified into either a deteriorated portion or a non-degraded portion. Furthermore, non-degraded sites are classified as either recommended sites or normal sites. The recommended part is the part with the smallest degree of deterioration among the non-degraded parts. In this embodiment, the portion having the shortest cumulative energization time among the non-degraded portions is selected as the recommended portion. However, it is not limited to this, and a portion with the least number of times of energization or accumulated power supply amount among the non-deteriorated portions may be selected as the recommended portion. The recommended site may be specified by the mat controller 150 or by the server 500 . The aforementioned diagnosis result (see S23) may indicate recommended parts in addition to deteriorated parts.

Each portion (transmitting coil 120) included in region R shown in FIG. 7 corresponds to a deteriorated portion. Hereinafter, the power transmission coil 120 and the light emitter 121 provided in the recommended portion are referred to as "power transmission coil 120A" and "light emitter 121A", respectively. The power transmission coil 120 and the light emitter 121 provided in the normal parts are respectively referred to as "power transmission coil 120B" and "light emitter 121B". The power transmission coil 120 and the light emitter 121 provided in the deteriorated portion are denoted as "power transmission coil 120C" and "light emitter 121C", respectively.

Referring to FIG. 7 together with FIGS. 3 and 4, in this embodiment, the surface of power feeding mat 100 is divided into a plurality of parts, and light emitter 121 is provided for each of the divided parts. Mat controller 150 guides AGV 200 using these emitters 121 . The mat controller 150 controls each light emitter 121 so as to guide the AGV 200 in a direction to avoid the deteriorated portion. Specifically, the mat controller 150 blinks the light emitter 121A, turns on the light emitter 121B, and turns off the light emitter 121C. The AGV 200 can recognize light by means of autonomous driving sensors. The AGV 200 recognizes the power transmission coil 120C (deteriorated portion) based on the difference in lighting of the light emitter 121 at each portion, and moves in a direction to avoid the power transmission coil 120C. In this embodiment, AGV 200 recognizes power transmission coil 120A (recommended portion) and moves toward power transmission coil 120A.

In the above example, by changing the manner of lighting between the deteriorated portion and the non-degraded portion, the moving object (for example, the AGV 200) is guided to avoid the deteriorated portion. However, the moving object may be guided by changing the lighting color instead of the lighting method. For example, mat controller 150 may light emitter 121A in blue, emitter 121B in yellow, and emitter 121C in red.

6 again along with FIGS. 3, 4, and 7, the AGV 200 moves in S12 according to the guidance (see S32). Specifically, the AGV 200 recognizes the power transmission coils 120A to 120C (FIG. 7) by the automatic operation sensor and moves toward the power transmission coil 120A.

When the moving body 206 or 207 (FIG. 2) on which the driver is riding executes the series of processes shown in FIG. 6, the driver drives the moving body according to the guidance (see S32). to the power transmission coil 120A. However, the driver leaves the power feeding mat 100 after completing the movement. After the movement is completed, the navigation system mounted on the mobile body may audibly prompt the driver to move away from the power supply mat 100 .

AGV 200 moves above one power transmission coil 120 (for example, power transmission coil 120A) included in the target mat by the process of S12. Hereinafter, the power transmission coil 120 to which the AGV 200 has been moved by the process of S12 is also referred to as a "target coil".

In subsequent S13, ECU 250 automatically moves AGV 200 so that power receiving coil 220 is aligned with the position of the target coil indicated by the magnetic marker. The ECU 250 moves the AGV 200 to the target coil based on the information acquired by the automatic driving sensor, for example, and then, based on the detection result of the position sensor module 221, determines the reference position (for example, the center) of the target coil and power reception. Finely adjust the position of the AGV 200 so that it matches the reference position (eg, center) of the coil 220 . Note that the method of aligning the power transmission/reception coils is not limited to the above. Other alignment methods proven in wireless power transfer (WPT) may be employed.

When the positioning of the power transmitting/receiving coils is completed, the ECU 250 transmits a positioning completion notification to the target mat. After that, in S14, the ECU 250 determines whether charging permission has been received from the target mat. ECU 250 waits until AGV 200 receives a charging permission notification (S34), which will be described later.

The mat controller 150 of the target mat performs the aforementioned guidance (S32), and determines in S33 whether or not the guidance has been completed. If the target mat receives the alignment completion notification from the AGV 200 and the aligned target coil corresponds to the non-degraded part (recommended part or normal part), YES (induction completed) is determined in S33, and processing is performed. advances to S34. The mat controller 150 may qualify the target coil based on information obtained from the camera 350 or the output of the sensor module 122 mounted on the target mat. Alternatively, mat controller 150 may receive a signal indicating the target coil from AGV 200 (ECU 250).

In S<b>34 , the target mat transmits a charge permission notification to the AGV 200 . Thereafter, the target mat executes power supply control in S35. Details of power supply control will be described later.

If the induction is not successful due to some trouble and power receiving coil 220 is aligned (S13) with respect to power transmitting coil 120 at the deteriorated portion, YES is not determined in S33. In this case, the charging permission notification is not transmitted from the target mat to the AGV 200 . In order to receive the charging permission notification, AGV 200 may perform S12 and S13 again so that power receiving coil 220 is aligned with respect to power transmitting coil 120 of a non-degraded portion.

When the AGV 200 receives the charging permission notification from the target mat (YES in S14), the process proceeds to S15. In S15, the AGV 200 executes charging control. FIG. 8 is a flow chart showing details of the process of S15 shown in FIG.

Referring to FIG. 8 together with FIGS. 3 and 4, in S41, ECU 250 charges battery 210 while communicating with mat controller 150 of the target mat. Battery 210 is charged by power supplied from the target coils of the target mat (S12 and S13 in FIG. 6) to power receiving coil 220 of AGV 200 . While the battery 210 is being charged, the mat controller 150 controls the power control circuit 130 to adjust the supplied power, and the ECU 250 controls the charging circuit 230 to adjust the charging power.

In subsequent S42, the ECU 250 determines whether or not a predetermined charge completion condition is satisfied. In this embodiment, the charge completion condition is established when the SOC of battery 210 becomes equal to or higher than a predetermined SOC value (for example, an SOC value indicating full charge). However, the charging completion condition is not limited to this, and can be arbitrarily set. For example, the charge completion condition may be satisfied when a predetermined time has elapsed from the start of charging.

The processing of S41 is continuously executed while it is determined as NO in S42. If power supply continues from the target coil of the target mat to power receiving coil 220 of AGV 200, battery 210 is charged by the process of S41. If the power supply from the target mat is unexpectedly stopped, the ECU 250 re-executes the alignment of the power transmitting/receiving coils (S13 in FIG. 6), and then retransmits the alignment completion notification to the target mat. good. On the other hand, if the charging completion condition is satisfied (YES in S42), the process proceeds to S43 and the process of S41 is not executed. As a result, battery 210 is no longer charged.

In S43, the ECU 250 transmits a power supply stop request to the target mat. When the process of S43 is executed, the series of processes shown in FIG. 8 ends. As a result, the series of processes shown in FIG. 6 also ends. When the destination is set in the AGV 200, the AGV 200 resumes traveling toward the destination.

FIG. 9 is a flowchart showing the details of the process of S35 shown in FIG. The processing shown in this flowchart is executed by the mat controller 150 of the power feeding mat 100 (target mat).

9 together with FIGS. 3 and 4, in S51, mat controller 150 determines whether the position of the target coil (S12 in FIG. 6) and the position of power receiving coil 220 match.

If wireless power feeding (see S53 described later) has not yet started, the mat controller 150 controls the power control circuit 130 to transmit weak power from the target coil to the power receiving coil 220 in S51. Weak power is power for position confirmation, and is smaller than power supplied from the target coil during charging. Then, based on information from ECU 250 (for example, power received by power receiving coil 220), mat controller 150 checks whether power is appropriately transmitted from the target coil to power receiving coil 220. FIG. When power is appropriately transmitted from the target coil to power receiving coil 220, mat controller 150 determines that the position of the target coil and the position of power receiving coil 220 match. The mat controller 150 executes the processing of S51 even during execution of wireless power supply. In this case, the mat controller 150 transmits information from the ECU 250 (for example, the power received by the power receiving coil 220) from the target coil to the power receiving coil 220 while transmitting power (power transmitted for charging) instead of weak power. power), it is determined whether or not the position of the target coil and the position of the receiving coil 220 match.

If the position of the target coil and the position of power receiving coil 220 are out of the allowable range (NO in S51), the series of processes shown in FIG. 9 ends. On the other hand, if the position of the target coil and the position of power receiving coil 220 match (YES in S51), the process proceeds to S52. In S52, the mat controller 150 determines whether the environment is suitable for wireless power supply. For example, the mat controller 150 determines whether the environment is suitable based on the presence or absence of foreign matter. In this embodiment, if a foreign object exists on power feeding mat 100, it is determined in S52 that the environment of power feeding mat 100 is not suitable for wireless power feeding. On the other hand, if there is no foreign object on the power feeding mat 100, it is determined in S52 that the environment of the power feeding mat 100 is suitable for wireless power feeding. The mat controller 150 determines whether or not the environment is suitable for wireless power supply based on the foreign matter information acquired from the camera 350 (S101 in FIG. 5). However, the mat controller 150 is not limited to the above example, and the mat controller 150 may judge the appropriateness of the environment from a viewpoint other than the presence or absence of a foreign object.

If the environment of power feeding mat 100 is suitable for wireless power feeding (YES in S52), mat controller 150 performs wireless power feeding while communicating with ECU 250 in S53. The process of S53 is executed in parallel with the process of S41 in FIG. As a result, power is supplied from the target coil of power supply mat 100 to power receiving coil 220 of AGV 200 , and the power received by power receiving coil 220 is input to battery 210 via charging circuit 230 . During wireless power supply (that is, during charging of the battery 210), the mat controller 150 controls the power control circuit 130 to adjust the power supply.

In subsequent S54, the mat controller 150 determines whether or not the power supply mat 100 has received a power supply stop request from the AGV 200 (S43 in FIG. 8). If power supply mat 100 has not received the power supply stop request (NO in S54), the process returns to S51.

The wireless power supply (S53) is continuously performed while both S51 and S52 are YES and S54 is NO. On the other hand, if NO is determined in either S51 or S52 or YES in S54, the series of processes shown in FIG. 9 ends, and wireless power supply (S53) is no longer performed. As a result, the series of processes shown in FIG. 6 also ends.

If it is determined NO in either S51 or S52 during power feeding and the wireless power feeding (S53) is interrupted, the mat controller 150 may repeat the determinations of S51 and S52 for a predetermined period. Then, if both S51 and S52 are determined to be YES within a predetermined period, the mat controller 150 may resume wireless power supply (S53).

As described above, the power supply system according to Embodiment 1 is configured to perform wireless power supply to a moving object using power supply mat 100 including a plurality of power transmission coils 120 . Such a power supply system includes diagnostic equipment (eg, server 500 and camera 350) and guidance equipment (eg, mat controller 150). The diagnostic device identifies a deteriorated portion, which is a portion with a large degree of deterioration of the power supply mat (see S21 to S23 in FIG. 6). The guidance device guides the moving body to avoid the deteriorated portion (see S32 of FIG. 6 and FIG. 7). As a result, the deteriorated portion of the power supply mat 100 is less likely to be used. That is, deterioration of the deteriorated portion of the power supply mat 100 is less likely to progress. Therefore, the degree of deterioration of each part of the power supply mat 100 can be made uniform.

The power feeding method according to the first embodiment includes identifying a deteriorated portion, which is a portion of the power feeding mat 100 having a large degree of deterioration (S22 in FIG. 6), and guiding the moving object to avoid the deteriorated portion (FIG. 6). S32) of. By such a power supply method, the degree of deterioration of each part of the power supply mat 100 is made uniform.

In Embodiment 1 above, the non-deteriorated parts are classified into the recommended parts and the normal parts, and the guide device guides the moving body to the recommended parts. However, the guidance device only needs to guide the moving body to avoid the deteriorated site, and it is not essential to guide the moving body to the recommended site. The user may decide which of the non-degraded parts to use.

[Embodiment 2]
A power supply system according to Embodiment 2 of the present disclosure will be described. Since the second embodiment has many parts in common with the first embodiment, mainly the differences will be explained, and the explanation of the common parts will be omitted.

In the first embodiment, charging is performed while the moving body is stopped by the process shown in FIG. On the other hand, in the second embodiment, the moving body is configured to perform charging while traveling. The power feeding mat 100 is configured to use a plurality of power transmitting coils 120 to feed power to a moving body running on the power feeding mat 100 . In Embodiment 2, instead of the process shown in FIG. 6, the process shown in FIG. 10 described below is executed.

FIG. 10 is a flow chart showing a power feeding method according to the second embodiment. Referring to FIG. 10 along with FIGS. 3 and 4, in S11A, ECU 250 of AGV 200 communicates with mat controller 150 to obtain the mat ID of the target mat. At the same time, a power supply request (a signal requesting power supply) is transmitted to the server 500 .

When server 500 receives the power supply request from AGV 200 (ECU 250), it starts the process shown in FIG. Then, similarly to the process shown in FIG. 6, the processes of S21, S31, S22, and S23 are executed in order. However, in S22, a deteriorated lane, which will be described later, is specified. Then, the diagnosis result indicates the deteriorated lane specified in S22.

When the target mat receives the diagnosis result (S23), the mat controller 150 of the target mat guides the AGV 200 to avoid the deteriorated lane indicated by the diagnosis result in S32A.

FIG. 11 is a diagram for explaining a deterioration diagnosis method and a guidance method according to Embodiment 2. FIG. FIG. 11 schematically shows a planar structure of part of the power supply mat 100 (target mat).

11 together with FIGS. 3 and 4, in this embodiment, the surface of power feeding mat 100 is divided into a plurality of running lanes (including running lanes L1 to L5). Each of the running lanes L1 to L5 corresponds to a power feeding lane for supplying power to a moving body that is running. Each driving lane is a row of power transmission coils 120 along a predetermined driving direction. Each running lane has a length from one end to the other end of power feeding mat 100 .

In this embodiment, each driving lane is classified as either a degraded lane or a non-degraded lane. A deteriorated lane is a driving lane with a large degree of deterioration and corresponds to a deteriorated portion. In S22 of FIG. 10 , server 500 identifies a deteriorated lane from among the plurality of travel lanes included in power supply mat 100 . Server 500 may, for example, recognize a driving lane including a predetermined number (for example, one) or more of power transmitting coils 120 corresponding to any of (A) to (F) described above as a degraded lane. Further, the server 500 may identify a deteriorated lane by comparing the number of energizations, the number of passages, the temperature damage time, the cumulative energization time, or the cumulative power supply amount for each travel lane. The value (number of times, time, or power amount) to be compared may be an average value or total value of all the power transmission coils 120 included in one driving lane.

Non-degraded lanes are classified into recommended lanes (corresponding to recommended sites) and normal lanes (corresponding to normal sites). The recommended lane is the driving lane with the least degree of deterioration among the non-deteriorated lanes. In this embodiment, the portion with the shortest accumulated energization time among the non-deteriorated lanes is set as the recommended lane. However, this is not the only option, and the recommended lane may be selected from among the non-degraded lanes with the lowest number of times of energization or the lowest cumulative power supply amount.

In the example shown in FIG. 11, driving lanes L1 and L3 each correspond to normal lanes, driving lane L2 corresponds to a recommended lane, and driving lanes L4 and L5 each correspond to deteriorated lanes. In S32A of FIG. 10, the mat controller 150 blinks each light emitter 121A belonging to the recommended lane, lights each light emitter 121B belonging to the normal lane, and turns off each light emitter 121C belonging to the deteriorated lane. The AGV 200 can recognize light by means of autonomous driving sensors. The AGV 200 recognizes the deteriorated lanes (driving lanes L4 and L5) and moves in a direction to avoid the deteriorated lanes.

10 again along with FIGS. 3, 4, and 11, the mat controller 150 performs the above guidance (S32A), and in S35A, the power transmission coils 120A and 120B belonging to the non-degraded lanes (non-degraded lanes). A voltage for power supply is applied to the power transmission coil 120). Then, the mat controller 150 continues the induction (S32A) and the power supply (S35A) until it receives a charge completion notification from the AGV 200. FIG. The mat controller 150 determines in S35B whether or not the target mat has received the charging completion notification.

On the other hand, the AGV 200 travels according to the guidance (S32A) in S12A, and executes charging while traveling in S13A. Specifically, AGV 200 sequentially receives power from each power transmission coil 120A belonging to the recommended lane while traveling in the recommended lane (for example, travel lane L2 shown in FIG. 11). The AGV 200 continues the above running (S12A) and charging (S13A) until a predetermined charge completion condition is satisfied.

ECU 250 determines in S14A whether or not the charging completion condition is satisfied. In this embodiment, the charge completion condition is met when the AGV 200 passes through the target mat. ECU 250 may determine that AGV 200 has passed the target mat when power receiving coil 220 stops receiving power from the target mat. The charge completion condition is also met when the SOC of battery 210 becomes equal to or higher than a predetermined SOC value (for example, an SOC value indicating full charge). When the charge completion condition is satisfied (YES in S14A), ECU 250 transmits a charge completion notice to the target mat in S15A. When the target mat receives the charging completion notification (YES in S35B), the series of processes shown in FIG. 10 ends.

In the power supply mat 100 according to the second embodiment, a light emitter is provided for each power transmission coil. However, the light emitter may be provided for each driving lane.

FIG. 12 is a diagram showing a first modification of the configuration shown in FIG. 11. In FIG. Referring to FIG. 12, the power supply system includes display device 610 . The display device 610 includes light emitters 611-615 and a driving circuit (not shown) that drives the light emitters 611-615. Light emitters 611 to 615 are provided near the entrances of driving lanes L1 to L5, respectively. The light emitters 611 to 615 may be provided at the ends of the power feeding mat 100 or may be provided on the floor near the power feeding mat 100 . The mat controller 150 can guide the moving object by controlling the display device 610 . The mat controller 150 may control the display device 610 by wireless communication. The mat controller 150 turns on the light emitters 611 to 613 and turns off the light emitters 614 and 615, thereby guiding the moving object to avoid the deteriorated lanes (running lanes L4 and L5).

FIG. 13 is a diagram showing a second modification of the configuration shown in FIG. 11. In FIG. Referring to FIG. 13, the power supply system includes label 621 and display 622 . The display 622 may be an FPD (flat panel display). Label 621 displays letters (A to E) that identify driving lanes L1 to L5. Numbers or symbols may be employed instead of letters. Labels 621 are provided near the entrances of driving lanes L1 to L5. The mat controller 150 can guide the moving object by controlling the display 622 . Mat controller 150 may control display 622 wirelessly. The mat controller 150 can guide the moving object to avoid the degraded lanes (travel lanes L4 and L5) by causing the display 622 to display characters (A to C) indicating the travel lanes L1 to L3.

In the power supply mat 100 according to the second embodiment and the first and second modifications, guidance is performed by the display device. However, the present invention is not limited to this, and a gate device may be employed instead of the display device.

FIG. 14 is a diagram showing a third modification of the configuration shown in FIG. 11. In FIG. Referring to FIG. 14, the power supply system includes gate device 630 . Gate device 630 includes gates 631-635 and actuators (not shown) that move gates 631-635. Gates 631 to 635 are provided near the entrances of driving lanes L1 to L5, respectively. Each of gates 631-635 is, for example, an elevating gate. The gate in the open state is stored under the floor and does not interfere with the movement of moving objects. When the gate is driven up by the actuator, it is closed. A gate in a closed state protrudes above the ground and prevents a moving object from entering the corresponding travel lane. The mat controller 150 can guide the moving object by controlling the actuator of each gate included in the gate device 630 . The mat controller 150 may control the gate device 630 by wireless communication. The mat controller 150 opens the gates 631 to 633 and closes the gates 634 and 635, thereby guiding the moving object to avoid the deteriorated lanes (travel lanes L4 and L5).

[Other embodiments]
Server 500 may diagnose deterioration of power supply mat 100 based on information collected from a plurality of moving bodies. Each moving body may transmit information (for example, supplied power) of the power transmitting coil 120 in use to the server 500 . By collecting the usage history of power feeding mat 100, server 500 can perform deterioration diagnosis of power feeding mat 100 using a statistical method.

Mat controller 150 may diagnose deterioration of power supply mat 100 . FIG. 15 is a flow chart showing a modification of the process shown in FIG. Referring to FIG. 15, in this modification, not server 500 but mat controller 150 performs deterioration diagnosis (S22). FIG. 16 is a flow chart showing a modification of the processing shown in FIG. Referring to FIG. 16, in this modification, not server 500 but mat controller 150 performs deterioration diagnosis (S22). In these variations, mat controller 150 functions as a diagnostic device.

The method of guiding the moving body is not limited to the above-described method, and is arbitrary. For example, the mat controller 150 may communicate with the mobile object and instruct the mobile object on the direction of travel. The mat controller 150 communicates with the mobile object (for example, the AGV 200) in S32 of FIG. 6, S32 of FIG. 15, S32A of FIG. 10, or S32A of FIG. 16 to guide the mobile object to avoid the deteriorated portion. may

In each of the above-described embodiments, the power supply mat has flexibility to the extent that it can be wound in a cylindrical shape (see FIG. 1). However, the power feeding mat does not have to be bent. 17A and 17B are diagrams showing a first modification of the power supply mat 100 shown in FIG.

Referring to FIG. 17, power supply mat 100A is formed in a sheet shape by combining one first plate member 101 and a plurality of second plate members 102 .

The first plate member 101 is electrically connected to the power module 300 via a cable. The first plate member 101 may be always connected to the power supply module 300, or may be detachable. The first plate member 101 includes a sheet base material 110A, a power control circuit 130, a wireless communication device 140, and a mat controller 150. As shown in FIG. The power control circuit 130, wireless communication device 140, and mat controller 150 are built in the sheet base material 110A. The first plate member 101 has a rectangular outer shape (planar shape). However, the shape of the first plate member 101 is not limited to this, and the outer shape of the first plate member 101 can be changed as appropriate.

Each of the plurality of second plate members 102 includes a sheet base material 110B and a power transmission coil 120. As shown in FIG. The power transmission coil 120 is provided on the surface of the sheet base material 110B. However, the present invention is not limited to this, and the power transmission coil 120 may be embedded in the sheet base material 110B. Electric power supplied from the power system PG is supplied to each second plate member 102 via the power supply module 300 and the first plate member 101 . A power supply circuit 310 included in the power supply module 300 supplies power to the power transmission coils 120 included in each second plate member 102 .

The second plate 102 has one power transmission coil 120 . However, the present invention is not limited to this, and the second plate member 102 may include two or more power transmission coils 120 . The second plate member 102 has a square outer shape (planar shape). However, the outer shape of the second plate member 102 is not limited to this, and the outer shape of the second plate member 102 is not limited to a square, and may be a rectangular shape, a polygon other than a quadrangle (triangle, pentagon, hexagon, etc.), a circle, or a strip shape. good.

The second plate member 102 may have a connector for connecting electric wires of the adjacent second plate member 102 (for example, electric wires connected to the power transmission coil 120). The second plate member 102 may further have a lock mechanism for fixing the connected connector. The second plate 102 may have fasteners to reinforce the physical connection with the adjacent second plate 102 . The second plate member 102 may have a connecting portion (for example, a fitting portion that can be fitted, an engaging portion that can be engaged, or a fastening portion that can be fastened) with an adjacent second plate member 102 . Adjacent second plates 102 may be connected in a fitting manner. Adjacent second plate members 102 may be fastened. Adjacent second plate members 102 may be positioned by positioning pins.

By combining a plurality of second plate members 102 with one first plate member 101, a power feeding mat 100A having a function similar to that of the power feeding mat 100 shown in FIG. 1 is formed. The method of connecting the first plate member 101 and the second plate member 102 may be the same as or different from the method of connecting the adjacent second plate members 102 . The plurality of second plate members 102 may be connected in a grid pattern.

The power feeding mat 100A is configured to be disassembleable. The plurality of second plate members 102 that combine to form the power supply mat 100A can be returned to individual small pieces (second plate members 102). The power supply mat 100A is configured to be disassembled into one first plate member 101 and a plurality of second plate members 102 . Therefore, the power feeding mat 100A is easy to carry. Further, when a part of the second plate members 102 out of the plurality of second plate members 102 forming the power supply mat 100A is broken or deteriorated, only the corresponding second plate members 102 can be replaced.

In each of the above embodiments, the power supply mat is installed on the floor (see FIG. 3). However, the power supply mat may be configured to be installed on the wall. 18A and 18B are diagrams showing a second modification of the power supply mat 100 shown in FIG.

Referring to FIG. 18, power supply mat 100B is installed on an indoor wall. The installation method may be a wall hanging method or an attachment method. The power feeding mat 100B includes a plurality of power transmitting coils 120, a power control circuit 130, a wireless communication device 140, and a mat controller 150. The power supply system according to this modification includes a display device 640 in addition to the power supply mat 100B. The display device 640 includes a plurality of light emitters 640a and a drive circuit (not shown) that drives each light emitter 640a. A light emitter 640 a is provided for each power transmission coil 120 . AGV 200A is configured to be able to use power supply mat 100B. The AGV 200A basically has the configuration shown in FIG. However, the AGV 200A includes a power receiving coil 220A provided on the side of the vehicle body in place of or in addition to the power receiving coil 220 (FIG. 3) provided on the lower portion of the vehicle body. The power receiving coil 220A is configured to receive power in a contactless manner from the power transmitting coil 120 of the power feeding mat 100B installed on the wall.

The mat controller 150 can guide the moving object by controlling the display device 640 . The mat controller 150 may control the display device 640 by wireless communication. For example, the mat controller 150 turns on the light emitters 640a corresponding to the power transmission coils 120 that are not degraded and turns off the light emitters 640a that correspond to the power transmission coils 120 that have deteriorated, so that the deteriorated parts (degraded power transmission coils 120) can guide the moving object to avoid

The power supply mat may be installed outdoors. The mobile body to which the power supply mat is applied is not limited to the vehicles shown in FIGS. The mobile object is not limited to a BEV without an internal combustion engine, and may be a PHEV (plug-in hybrid vehicle) with an internal combustion engine. A mobile object may be an agricultural machine, a walking robot, a drone, a robotic cleaner, or a space probe, or it may be a rail vehicle, a ship, or an airplane.

The various modifications described above may be combined arbitrarily and implemented.
The embodiments disclosed this time should be considered as examples and not restrictive in all respects. The scope of the present invention is indicated by the scope of the claims rather than the description of the above-described embodiments, and is intended to include all modifications within the scope and meaning equivalent to the scope of the claims.

100, 100A, 100B power supply mat 101 first plate 102 second plate 110, 110A, 110B sheet base material 120 power transmission coil 121, 611 to 615, 640a light emitter 122 sensor module 130 power control circuit 140 wireless communication device, 150 mat controller, 200, 200A AGV, 201 to 207 moving body, 210 battery, 220, 220A power receiving coil, 221 position sensor module, 230 charging circuit, 240 wireless communication device, 250 ECU, 300 power supply module, 310 power circuit, 350 camera, 500 server, 510 processor, 520 storage device, 530 communication device, 610, 640 display device, 621 label, 622 display, 630 gate device, 631 to 635 gates, L1 to L5 driving lanes, PG power system.

Claims (12)

A power supply system that performs wireless power supply to a mobile object using a power supply mat that includes a plurality of power transmission coils,
a diagnostic device that identifies a deteriorated portion, which is a portion with a large degree of deterioration of the power supply mat;
a guidance device that guides the moving object to avoid the deteriorated portion;
A power supply system comprising: The surface of the power feeding mat is divided into a plurality of parts, and a light emitting device is provided for each of the divided parts,
The diagnostic device identifies a portion corresponding to the deteriorated portion from among the plurality of portions,
2. The power feeding system according to claim 1, wherein said guiding device controls said light emitting device so as to guide said moving object in a direction to avoid said deteriorated portion. The surface of the power supply mat is divided into a plurality of running lanes,
The diagnosis device identifies a driving lane corresponding to the deteriorated part from among the plurality of driving lanes,
2. The power supply system according to claim 1, further comprising a display device that guides said moving body to avoid said lane corresponding to said deteriorated portion. 2. The power feeding system according to claim 1, wherein said guidance device is configured to guide said moving body to avoid said deteriorated portion by communicating with said moving body. 5. The power supply system according to claim 4, wherein the moving body is an automatically driving vehicle configured to be able to run unmanned. The power feeding system according to any one of claims 1 to 5, wherein the diagnostic device identifies the deteriorated portion using a history of use of each portion of the power feeding mat. The power feeding system according to any one of claims 1 to 6, wherein said diagnostic device identifies said deteriorated portion using a temperature of each portion of said power feeding mat. The power feeding mat according to any one of claims 1 to 7, wherein the power feeding mat is configured to use the plurality of power transmission coils to feed power to the moving object traveling on the power feeding mat. power supply system. The power supply system according to any one of claims 1 to 8, wherein said power supply mat has flexibility to the extent that it can be rolled into a cylindrical shape. The power supply mat is formed by combining a plurality of plate materials,
The power supply mat is configured to be disassembled into the plurality of plate materials,
The power supply system according to any one of claims 1 to 8, wherein each of said plurality of plate members includes one or more said power transmission coils. The power supply system according to any one of claims 1 to 10, wherein the power supply mat is configured to be installed indoors. A power feeding method for wirelessly power feeding a moving body using a power feeding mat including a plurality of power transmitting coils,
identifying a deteriorated portion, which is a portion with a large degree of deterioration of the power supply mat;
guiding the moving body to avoid the deteriorated site;
power supply method, including

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